ICRA 2011 Paper Abstract


Paper TuA207.1

Liljebäck, Pål (SINTEF IKT), Pettersen, Kristin Y. (Norwegian University of Science and Technology)

Waypoint Guidance Control of Snake Robots

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots II" (TuA207), Tuesday, May 10, 2011, 10:05−10:20, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Biologically-Inspired Robots, Motion and Path Planning, Underactuated Robots


This paper considers path following control of snake robots and has two contributions. The first contribution is a description of how a straight line path following controller previously proposed by the authors can be extended to path following of general curved paths. The second contribution of this paper is a waypoint guidance strategy for steering a snake robot along a path defined by waypoints interconnected by straight lines. The waypoint guidance strategy builds on the straight line path following controller previously proposed by the authors. The paper presents simulation results that illustrate the performance of the proposed guidance strategy.



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